diff --git a/features/src/ros2/README.md b/features/src/ros2/README.md
index 9cf6b5c..9af16eb 100644
--- a/features/src/ros2/README.md
+++ b/features/src/ros2/README.md
@@ -17,6 +17,7 @@ Install ROS 2 and the tools needed to develop ROS packages.
 |-----|-----|-----|-----|
 | distro | ROS 2 distribution to install. By default, select the recommended distribution for the container's Ubuntu release. | string | auto |
 | package | ROS 2 metapackage to install. | string | desktop |
+| additionalPackages | Space-separated ROS package suffixes to install in addition to the selected metapackage, without the ros-<distro>- prefix. | string | - |
 | workspace | Workspace whose install/setup.sh file should be sourced when present. | string | ${containerWorkspaceFolder} |
 
 ## Supported Ubuntu releases
diff --git a/features/src/ros2/devcontainer-feature.json b/features/src/ros2/devcontainer-feature.json
index 9b7ab44..080138f 100644
--- a/features/src/ros2/devcontainer-feature.json
+++ b/features/src/ros2/devcontainer-feature.json
@@ -27,6 +27,11 @@
       "default": "desktop",
       "description": "ROS 2 metapackage to install."
     },
+    "additionalPackages": {
+      "type": "string",
+      "default": "",
+      "description": "Space-separated ROS package suffixes to install in addition to the selected metapackage, without the ros-<distro>- prefix."
+    },
     "workspace": {
       "type": "string",
       "default": "${containerWorkspaceFolder}",
diff --git a/features/src/ros2/install.sh b/features/src/ros2/install.sh
index 58b68a6..414d3c7 100755
--- a/features/src/ros2/install.sh
+++ b/features/src/ros2/install.sh
@@ -4,6 +4,7 @@ set -euo pipefail
 
 ros_distro="${DISTRO:-auto}"
 ros_package="${PACKAGE:-desktop}"
+ros_additional_packages="${ADDITIONALPACKAGES:-}"
 ros_workspace="${WORKSPACE:-${_REMOTE_USER_HOME:-/workspaces}/ros2_ws}"
 feature_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 distribution_config="${feature_dir}/distributions.json"
@@ -130,8 +131,17 @@ dpkg -i "${ros_apt_source_package}"
 rm -f "${ros_apt_source_package}"
 
 apt-get update
+additional_apt_packages=()
+if [[ -n "${ros_additional_packages}" ]]; then
+    read -r -a additional_package_names <<<"${ros_additional_packages}"
+    for additional_package_name in "${additional_package_names[@]}"; do
+        additional_apt_packages+=("ros-${ros_distro}-${additional_package_name}")
+    done
+fi
+
 apt-get install -y --no-install-recommends \
     "ros-${ros_distro}-${ros_package}" \
+    "${additional_apt_packages[@]}" \
     python3-colcon-common-extensions \
     python3-rosdep \
     python3-vcstool \
diff --git a/features/test/ros2/additional_packages.sh b/features/test/ros2/additional_packages.sh
new file mode 100755
index 0000000..6e7abc1
--- /dev/null
+++ b/features/test/ros2/additional_packages.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+set -e
+source dev-container-features-test-lib
+
+check "ROS 2 Kilted is selected" bash -lc '[ "${ROS_DISTRO:-}" = "kilted" ]'
+check "ROS 2 CLI is installed" bash -lc 'command -v ros2 >/dev/null'
+check "RViz is installed" bash -lc 'ros2 pkg prefix rviz2 >/dev/null'
+
+reportResults
diff --git a/features/test/ros2/scenarios.json b/features/test/ros2/scenarios.json
index 10777ca..4b4bdc8 100644
--- a/features/test/ros2/scenarios.json
+++ b/features/test/ros2/scenarios.json
@@ -7,6 +7,16 @@
     "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
     "features": { "ros2": { "distro": "kilted", "package": "ros-base" } }
   },
+  "additional_packages": {
+    "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
+    "features": {
+      "ros2": {
+        "distro": "kilted",
+        "package": "ros-base",
+        "additionalPackages": "rviz2"
+      }
+    }
+  },
   "lyrical": {
     "image": "ubuntu:26.04",
     "features": { "ros2": { "package": "ros-base" } }